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name: simulation-data description: "Routes simulated ALOHA episode generation, replay, visualization, mirroring, compression, and truncation workflows for ACT++ HDF5 data." disable-model-invocation: true metadata: disco-role: operating license: MIT

simulation-data

Use this sub-skill when the task is about creating, replaying, visualizing, mirroring, compressing, truncating, or validating simulated ACT++ episode data.

Typical triggers

• "Generate 50 scripted transfer-cube episodes"
• "Replay episode_0.hdf5"
• "Mirror and compress the insertion dataset"
• "Why does sim reset assert on BOX_POSE?"
• "What fields are in the episode HDF5 file?"

What this sub-skill covers

• Joint-space and end-effector MuJoCo/DM Control environments.
• Scripted transfer-cube and insertion demo generation.
• Replaying HDF5 action traces back into simulation.
• Rendering videos and qpos plots from HDF5 episodes.
• Mirroring, JPEG compression, and truncation of episode files.
• Dataset layout and camera-name conventions for sim files.

What it excludes

• Model training and checkpoint management, which belong in policy-training.
• VINN feature caching and k-selection, which belong in vinn-offline.
• Real-robot alignment, servo diagnostics, and Mobile ALOHA deployment.

Read these first

• Workflow recipes
• Data format notes
• Simulation troubleshooting

Run this helper first

Before a long rollout, use check_sim_backend.py to confirm the sim backend can create and reset both environment variants from a chosen checkout.